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It sounds like the technique that I used to fab up the frame rails on my car.

you just cut partway through the tube from one end and cut out a triangle with the angle that you want the bend. Then you just bend the tube and weld the butt joint, and you have a bent square tube at the exact angle that you want.

This technique could be a little tricky to do on slow radius bends though, but I'm sure it could be done.